Electric vehicle

ABSTRACT

An electric self-balancing vehicle including a top cover, a bottom cover, an inner cover, a rotating mechanism, two wheels, two hub motors, a plurality of sensors, a power supply, and a controller is described herein. The top cover includes a first top cover and a second top cover disposed symmetrically and rotatable relative to each other. The bottom cover is fixed to the top cover and includes a first bottom cover and a second bottom cover disposed symmetrically and rotatable relative to each other. The inner cover is fixed between the top cover and the bottom cover and includes a first inner cover and a second inner cover disposed symmetrically and rotatable relative to each other. The rotating mechanism is fixed between the first inner cover and the second inner cover. The two wheels are rotatably fixed at two sides of the inner cover, respectively. The two hub motors are fixed in the two wheels, respectively. The plurality of sensors is disposed between the bottom cover and the inner cover, respectively. The power supply is fixed between the first bottom cover and the first inner cover. The controller is fixed between the second bottom cover and the second inner cover, the controller is electrically connected with the plurality of sensors, the power supply, and the hub motors, and the controller controls the hub motors to drive the corresponding wheels to rotate according to sensing signals transmitted by the sensors.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of U.S. patentapplication Ser. No. 15/160,589, filed on May 20, 2016, which is acontinuation application of U.S. patent application Ser. No. 14/773,650,filed on Sep. 8, 2015, now U.S. Pat. No. 9,376,155, which is a U.S.national stage under 35 U.S.C. § 371 of International Application No.PCT/CN2014/092849, filed on Dec. 2, 2014, designating the United Statesof America, which claims priority of Chinese Patent Application No.2014-10262353.9, filed on Jun. 13, 2014, the entire contents of each ofwhich are hereby incorporated by reference.

TECHNICAL FIELD

The present invention relates to an electric balance two-wheeledvehicle, of which two platforms for carrying people can rotate relativeto each other to drive.

BACKGROUND

An electric self-balancing vehicle is also known as a somatosensoryvehicle or a sensor controlled vehicle. The operating principle thereofis mainly established on a basic principle called “dynamicstabilization”, the change of car attitudes is detected by a gyroscopeand an acceleration sensor inside the vehicle body, and a motor isaccurately driven by a servo control system to adjust correspondingly,in order to keep the balance of the system.

The existing electric self-balancing vehicle generally has an operatingrod. A user stands on a foot platform of the self-balancing vehicle tooperate the operating rod so as to advance, retreat, and stop, and thiscontrol is also known as “manual control”. The foot platform of theexisting self-balancing vehicle is generally a flat plate, and the footplatform is always kept in a horizontal state during use and cannotrotate relatively. Therefore, the user cannot control the self-balancingvehicle merely through the feet.

BRIEF SUMMARY OF THE INVENTION

In order to overcome at least one defect in the prior art, the presentinvention provides an electric self-balancing vehicle.

To achieve the above objective, the present invention provides anelectric self-balancing vehicle including a top cover, a bottom cover,an inner cover, a rotating mechanism, two wheels, two hub motors, aplurality of sensors, a power supply, and a controller. The top coverincludes a first top cover and a second top cover disposed symmetricallyand rotatable relative to each other. The bottom cover is fixed to thetop cover, and the bottom cover includes a first bottom cover and asecond bottom cover disposed symmetrically and rotatable relative toeach other. The inner cover is fixed between the top cover and thebottom cover, and the inner cover includes a first inner cover and asecond inner cover disposed symmetrically and rotatable relative to eachother. The rotating mechanism is fixed between the first inner cover andthe second inner cover. The two wheels are rotatably fixed at two sidesof the inner cover, respectively. The two hub motors are fixed in thetwo wheels, respectively. The plurality of sensors is disposed betweenthe bottom cover and the inner cover, respectively. The power supply isfixed between the first bottom cover and the first inner cover. Thecontroller is fixed between the second bottom cover and the second innercover. The controller is electrically connected with the plurality ofsensors, the power supply, and the hub motors, and the controllercontrols the hub motors to drive the corresponding wheels to rotateaccording to sensing signals transmitted by the sensors.

According to one embodiment of the invention, the electricself-balancing vehicle may further include two pedals fixed to the topcover and the inner cover.

According to one embodiment of the invention, the pedals may havemutually separated friction strips disposed on upper surfaces of thepedals.

According to one embodiment of the invention, the first top cover andthe second top cover may have hollow spaces, respectively, the firstinner cover and the second inner cover may have recesses at positionscorresponding to the hollow spaces, respectively, and the hollow spacesmay be combined with the recesses to form pedal cavities for containingthe pedals.

According to one embodiment of the invention, the rotating mechanism mayinclude two bearings, a shaft sleeve, and two snap springs, the twobearings may be fixed to the first inner cover and the second innercover, respectively, and the shaft sleeve may be fixed inside the twobearings and may be fixed to the inner cover via the two snap springs.

According to one embodiment of the invention, the inner cover may have acylindrical barrel, and the bearings and the shaft sleeve may beinstalled in the barrel via the snap springs.

According to one embodiment of the invention, the electricself-balancing vehicle may further include a decorative lamp disposed atthe bottom cover.

According to one embodiment of the invention, the top cover may furtherinclude two indicating screens electrically connected with thecontroller. One indicating screen may display a remaining capacity ofthe power supply, and the other indicating screen may display a workingstate of the electric self-balancing vehicle.

According to one embodiment of the invention, the sensor may include agyroscope, an acceleration sensor, and an inductive switch, theinductive switch may sense whether a user stands on the electricself-balancing vehicle so as to be on or off, the controller may receivethe sensing signal of the inductive switch to control the hub motors towork or to stop, and the controller may receive the sensing signals ofthe acceleration sensor and the gyroscope to control the hub motors tochange a state or to keep the state.

According to one embodiment of the invention, the inductive switch maybe an infrared photoelectric sensor.

According to one embodiment of the invention, the electricself-balancing vehicle may further include a charging interface disposedat the bottom cover.

According to one embodiment of the invention, the electricself-balancing vehicle may further include an interface cover coveringthe charging interface.

According to one embodiment of the invention, the electricself-balancing vehicle may further include a limiting shaft disposedbetween the first inner cover and the second inner cover, and the lengthof the limiting shaft in the second inner cover may be larger than thelength of the limiting shaft in the first inner cover.

According to one embodiment of the invention, the top cover may have twoarc-shaped projections, and the two arc-shaped projections may belocated above the two wheels and may cover a part of the wheels,respectively.

According to one embodiment of the invention, the width of thearc-shaped projections may be larger than the width of the wheels.

According to one embodiment of the invention, the top cover and thebottom cover may be made of plastic, and the inner cover may be made ofaluminum alloy.

According to one embodiment of the invention, the electricself-balancing vehicle may further include a remote controller, and thecontroller may receive a control signal sent by the remote controller.

According to one embodiment of the invention, the controller may have astorage unit and a correction unit, the storage unit may store aninitial balance state of the electric self-balancing vehicle, and thecorrection unit may correct a current balance state of the electricself-balancing vehicle.

In summary, according to the invention, the inner cover is uniquelydisposed between the top cover and the bottom cover of the electricself-balancing vehicle, such that the entire structure of the electricself-balancing vehicle is firmer, and electronic elements inside thevehicle body are protected at the same time. Further, a space for fixingthe electronic elements is formed between the inner cover and the bottomcover, such that the electronic elements are installed more compactly.The power supply and the controller are disposed in two parts of thevehicle body, respectively. Therefore, one power supply and onecontroller can control the two hub motors simultaneously, the assemblyis easier, the wiring is more convenient, and more space is saved,Meanwhile, the weights on both sides of the vehicle body are betterbalanced thus to improve the self-balance of the vehicle body. Accordingto the present invention, the wheels are located at the left and rightedges of the vehicle body. Thus, the wheels with larger sizes can beused. Compared with the existing self-balancing vehicle with wheelsinstalled at the bottom of the bottom cover, the electric self-balancingvehicle has considerable movement distance and speed advantages.Further, the hub motors are adopted in the present invention, and themotors are directly installed in the wheels. Accordingly, the structureof the electric self-balancing vehicle is more compact. Compared withthe self-balancing vehicle singly installed with a motor, more space issaved and the entire device is more compact.

These and other features, aspects, and advantages of the presentinvention will become better understood with regard to the followingdescription, appended claims, and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a sectional view showing an electric self-balancing vehicleaccording to a first embodiment of the present invention;

FIG. 2 is an exploded schematic diagram showing the electricself-balancing vehicle according to the first embodiment of theinvention;

FIG. 3 is a schematic diagram showing the electric self-balancingvehicle according to the first embodiment of the invention;

FIG. 4 is a schematic diagram showing the electric self-balancingvehicle at another angle according to the first embodiment of theinvention;

FIG. 5 is a partial functional block diagram of the electricself-balancing vehicle according to the first embodiment of theinvention; and

FIG. 6 is a schematic diagram showing an electric self-balancing vehicleaccording to a second embodiment of the invention.

DETAILED DESCRIPTION OF THE INVENTION

Please refer to FIG. 1 to FIG. 5 together. An electric self-balancingvehicle 100 in this embodiment includes a top cover 1, an inner cover 2,a bottom cover 3, two hub motors 4, two wheels 50, a rotating mechanism60, a plurality of sensors 80, a power supply 81, and a controller 82.

The top cover 1 includes a first top cover 11 and a second top cover 12,and the first top cover 11 and the second top cover 12 are disposedsymmetrically and rotatable relative to each other. When the electricself-balancing vehicle 100 is in a using state, the top cover 1 islocated at the top. The first top cover 11 may be a left top cover, andthe second top cover 12 may be a right top cover. However, the inventionis not limited thereto. When the electric self-balancing vehicle 100 isrotated 180 degrees horizontally, the first top cover 11 becomes theright top cover, and the second top cover 12 becomes the left top cover.

The shapes of the first top cover 11 and the second top cover 12 arebasically the same, and the first top cover 11 and the second top cover12 can rotate relative to each other under the action of the rotatingmechanism 60. The inward parts of the first top cover 11 and the secondtop cover 12 are connected to form an X shape, and two indicatingscreens 13 are disposed at the inner ends. The indicating screens 13 areelectrically connected with the controller 82, wherein one of theindicating screens 13 can display a remaining capacity of the powersupply 81, and the other indicating screen 13 can display a workingstate of the electric self-balancing vehicle 100. In actual application,a transparent outer cover 14 is disposed on each indicating screen 13for protecting the indicating screen 13 and facilitating reading for auser. The indicating screen 13 displaying the working state can displaydifferent icons (for example, a battery icon and the like) according todifferent modes of the electric self-balancing vehicle 100, for example,a low speed mode, a high speed mode, a normal system state, a lockedstate and the like, thereby enabling the user to intuitively and clearlyunderstand the working state of the electric self-balancing vehicle 100.

In the embodiment, outward parts of the first top cover 11 and thesecond top cover 12 have arc-shaped projections 15, respectively, andthe two arc-shaped projections 15 are located above the two wheels 50and cover a part of the wheels 50, respectively. In the firstembodiment, the width W1 of each of the arc-shaped projections 15 islarger than the width W2 of each of the wheels 50. The arc-shapedprojections 15 completely cover the tops of the wheels 50. Due to thisarrangement, the arc-shaped projections 15 can effectively block muddywater splashed when the wheels 50 walk. Meanwhile, a hanging object (forexample, an overlong waistband of the clothes of the user) is preventedfrom being accidentally rolled into the wheels in a moving process tocause possible injury of the user, so that the safety of the electricself-balancing vehicle 100 is improved. However, the invention is notlimited thereto. In other embodiments, the arc-shaped projections 15 canbe designed to be narrow at two ends and wide in the middle.

The bottom cover 3 is fixed to the top cover 1. In actual application,the top cover 1 and the bottom cover 3 can be fixed together by screws.In the present invention, the top cover 1, the inner cover 2, and thebottom cover 3 jointly form the framework of the electric self-balancingvehicle 100, and after the top cover 1 and the bottom cover 3 are fixedtogether, the inner cover 2 is covered inside the vehicle body and isnot exposed. When the electric self-balancing vehicle 100 is in theusing state, the bottom cover 3 is located at the bottom.

The bottom cover 3 includes a first bottom cover 31 and a second bottomcover 32, and the first bottom cover 31 and the second bottom cover 32are disposed symmetrically and rotatable relative to each other. Theshapes of the first bottom cover 31 and the second bottom cover 32 arebasically the same, and the first bottom cover 31 and the second bottomcover 32 can rotate relative to each other under the action of therotating mechanism 60. The inward parts of the first bottom cover 31 andthe second bottom cover 32 are connected to form an X shape. Similarly,the first bottom cover 31 may be a left bottom cover, and the secondbottom cover 32 may be a right bottom cover. When the electricself-balancing vehicle 100 is rotated 180 degrees horizontally, thefirst bottom cover 1 becomes the right bottom cover, and the secondbottom cover 32 becomes the left bottom cover.

In the embodiment, the bottom cover 3 has two decorative lamps 33 forincreasing the beautiful appearance and playing an illumination role atthe same time. The shells of the decorative lamps 33 may be transparentfor transmitting light. In actual application, the decorative lamps 33may be electrically connected with the controller 82, so that thedecorative lamps 33 can reflect a driving state of the electricself-balancing vehicle 100 to remind surrounding people, therebyimproving the using safety. For example, when the electricself-balancing vehicle 100 advances, the decorative lamps 33 may staylit; when the electric self-balancing vehicle 100 retreats, thedecorative lamps 33 may flash; when the electric self-balancing vehicle100 turns left, the decorative lamp 33 at the left side may flash orstay lit, and the decorative lamp 33 at the right side may be off; whenthe electric self-balancing vehicle 100 turns right, the decorative lamp33 at the right side may flash or stay lit, and the decorative lamp 33at the left side may be off The lighting states of the decorative lamps33 are not limited in the invention.

The inner cover 2 is fixed between the top cover 1 and the bottom cover3. The inner cover 2 includes a first inner cover 21 and a second innercover 22, and the first inner cover 21 and the second inner cover 22 aredisposed symmetrically and rotatable relative to each other. The shapesof the first inner cover 21 and the second inner cover 22 are basicallythe same, and the first inner cover 21 and the second inner cover 22 canrotate relative to each other under the action of the rotating mechanism60. The rotating mechanism 60 may be installed in the middle of theinner cover 2, and the longitudinally installed hub motors 4 are fixedto the left and right edges. In the embodiment, the first inner cover 21and the second inner cover 22 are interconnected to form an entirety.However, the invention is not limited thereto. In other embodiments, thefirst inner cover 21 and the second inner cover 22 may be mutuallyseparated and independent components. Similarly, the first inner cover21 may be a left inner cover, and the second inner cover 22 may be aright inner cover. When the electric self-balancing vehicle 100 isrotated 180 degrees horizontally, the first inner cover 21 becomes theright inner cover, and the second inner cover 22 becomes the left rightcover.

In the embodiment, the electric self-balancing vehicle 100 furtherincludes two pedals 5, and the pedals 5 are fixed to the top cover 1 andthe inner cover 2. To enable the user to stand more stably in the movingprocess, mutually separated friction strips 51 are disposed on the uppersurface of each pedal 5 of the self-balancing vehicle 100 in theembodiment to increase the friction force.

To fix the pedals 5 and reduce the volume of the self-balancing vehicle100, the first top cover 11 and the second top cover 12 have hollowspaces 16, respectively, the first inner cover 21 and the second innercover 22 have recesses 23 at positions corresponding to the hollowspaces 16, respectively, and the hollow spaces 16 and the recesses 23are mutually combined to form pedal cavities (not shown in FIG. 2) forcontaining the pedals 5. In actual application, the hollow spaces 16 arepenetrated in the top cover 1, the recesses 23 are not penetrated in theinner cover 2, and the shapes of the hollow spaces 16 and the recesses23 are matched with the shapes of the pedals 5. The pedal cavities arecontaining spaces having bottom surfaces and side walls formed after thecombination of the hollow spaces 16 with the recesses 23.

When in use, the pedals 5 directly carry the user. The inner cover 2 isused as the internal framework of the entire self-balancing vehicle 100to indirectly bear the weight of the user transferred by the pedals 5,thereby preventing electronic elements between the inner cover 2 and thebottom cover 3 from being extruded by the weight of the user. Therefore,the entire electric self-balancing vehicle 100 is firmer and stronger,and the electronic elements therein are protected, such that theself-balancing vehicle 100 operates more stably and has longer servicelife. Preferably, the inner cover 2 is made of aluminum alloy. Thus, thestrength is higher, and the structure is more stable. The top cover 1and the bottom cover 3 are made of plastic, so that the weight of theentire vehicle body is reduced, the processes, such as spray coating,coloring and so on, are conveniently carried out on the appearance ofthe vehicle body, and antifouling and waterproof functions are achieved.Since the conventional electric self-balancing vehicle does not includethe inner cover 2, the internal electronic elements directly bear theweight of the user, and due to the shaking generated during the drivingprocess of the conventional self-balancing vehicle, an automatic poweroff situation is easy to occur, and the user is easy to fall down duringdriving. The electric self-balancing vehicle 100 in the presentinvention has solved this technical problem.

The rotating mechanism 60 is fixed between the first inner cover 21 andthe second inner cover 22. In the first embodiment, the rotatingmechanism 60 includes two bearings 61, a shaft sleeve 62, and two snapsprings 63. The two bearings 61 are fixed to the inner ends of the firstinner cover 21 and the second inner cover 22, respectively. The shaftsleeve 62 is fixed inside the two bearings 61 and is fixed to the innercover 2 via the two snap springs 63. Thus, the left and right innercovers of the inner cover 2 can rotate under the cooperation of therotating mechanism 60. Due to the arrangement of the rotating mechanism60, the two parts of the vehicle body of the electric self-balancingvehicle 100 can rotate freely and relatively.

To install the rotating mechanism 60, a cylindrical barrel 24 may bedesigned at the inward ends of the first inner cover 21 and the secondinner cover 22, and the bearings 61 and the shaft sleeve 62 areinstalled in the barrel 24 via the snap springs 63 from outside toinside. In order to limit an overlarge relative rotation angle betweenthe first inner cover 21 and the second inner cover 22, the electricself-balancing vehicle 100 further includes a limiting shaft 7, and thelength of the limiting shaft 7 in the second inner cover 22 is largerthan the length of the limiting shaft 7 in the first inner cover 21. Inthe embodiment, the limiting shaft 7 is located between the inward endsof the first inner cover 21 and the second inner cover 22.

The two wheels 50 are rotatably fixed at two sides of the inner cover 2,respectively, and the two hub motors 4 are fixed in the two wheels 50,respectively. The hub motor 4 is also called in-wheel motor, whereinpower, transmission, and braking devices are incorporated into a hub, sothat a large quantity of transmission components can be omitted, thestructure of the self-balancing vehicle can be simpler, a better spaceutilization rate can be obtained, and the transmission efficiency can beimproved at the same time. Since the hub motor 4 have the characteristicof independently driving a single wheel, differential steering similarto a crawler-type vehicle can be achieved by different rotating speedsand even by inversion of the left and right wheels 50, so that theturning radius of the vehicle can be greatly reduced, and in-situsteering can be nearly achieved under a particular condition.

The plurality of sensors 80 are disposed between the bottom cover 3 andthe inner cover 2. In detail, a half of the sensors 80 are disposedbetween the first bottom cover 31 and the first inner cover 21, and theother half of the sensors 80 are disposed between the second bottomcover 32 and the second inner cover 22. The power supply 81 is fixedbetween the first bottom cover 31 and the first inner cover 21. Thecontroller 82 is fixed between the second bottom cover 32 and the secondinner cover 22. In the present invention, only one power supply 81 andone controller 82 arc required to simultaneously control the two hubmotors 4, so that the assembling is easier, the wiring is moreconvenient, and the repairing of the sold electric self-balancingvehicle 100 returned to the factory is more convenient. Moreover, thepower supply 81 and the controller 82 are disposed in two half parts ofthe vehicle body, respectively. Thus, more space is saved, and thestructure of the entire vehicle body is more compact. An electric wireconnecting the power supply 81 and the controller 82 and the electricwires connecting the controller 82 and the hub motors 4 can penetratethrough the joint of the two half parts of the vehicle body, that is theelectric wires penetrate from the left half part (or the right halfpart) of the vehicle body to the right half part (or the left halfpart).

In the embodiment, the sensors 80 include a gyroscope 83, an inductiveswitch 84, and an acceleration sensor 85. In actual application, tomodularize the internal elements of the entire device, the accelerationsensor 85 and the gyroscope 83 are disposed on the same circuit board.Due to a visual angle, only the front surface of the circuit board canbe seen in FIG. 2, and the acceleration sensor 85 and the gyroscope 83(indicated by dotted lines in FIG. 2) are disposed on the back surfaceof the circuit board in actual application. The controller 82 iselectrically connected with the plurality of sensors 80, the powersupply 81, and the hub motors 4, and the controller 82 controls the hubmotors 4 to drive the corresponding wheels 50 to rotate according tosensing signals transmitted by the sensors 80.

The inductive switch 84 senses whether the user stands on the electricself-balancing vehicle 100 so as to be on or off, the controller 82receives the sensing signal (i.e., the on or off signal) of theinductive switch 84 to control the hub motors 4 to work or to stop, andthe controller 82 receives the sensing signals of the accelerationsensor 85 and the gyroscope 83 to control the hub motors 4 to change thestate or to keep the state. In the first embodiment, the inductiveswitch 84 is an infrared photoelectric sensor. However, the invention isnot limited thereto. In other embodiments, the inductive switch 84 maybe a microwave inductive switch, an ultrasonic inductive switch, or anyother inductive switches capable of achieving the same function. In theembodiment, the electric self-balancing vehicle 100 further includes ablocking element 86. When the user stamps on the pedals 5, the blockingelement 86 will block an infrared induction area of the infraredphotoelectric sensor, and thus the infrared photoelectric sensor isstarted. The controller 82 receives a starting signal sent by theinductive switch 84, thereby driving the hub motors 4 to work.

The wheels of the self-balancing vehicle in the prior art start rotatingautomatically once the self-balancing vehicle is enabled, so that theuser cannot easily stand on the self-balancing vehicle. When the usergets off from the self-balancing vehicle, the wheels do not stoprotating, and the entire wheels stop rotating only after the powerswitch is turned off. Thus, a very huge potential risk exists, and theusing is very inconvenient. When the electric self-balancing vehicle 100in the embodiment is enabled, the hub motors 4 do not work, while thewheels 50 are driven by sensing whether the user stands on the pedals 5,thereby avoiding the blind rotating situation of the self-balancingvehicle in the prior art and greatly improving the using safety. On theother hand, the electric self-balancing vehicle 100 in the embodimentachieves automatic balance after sensing the stamping instead ofbalancing once the power supply is turned on, so that the safety of thevehicle body can be guaranteed, the rotation of the vehicle body islittle to avoid the problem in the prior art that automatic balance isachieved once the power supply is turned on to cause a wrong balancepoint of the vehicle body and the vehicle body rotates to result inunbalance of the user.

The acceleration sensor 85 and the gyroscope 83 detect the motion stateof the self-balancing vehicle 100 together, for example, theacceleration, the angular speed and the like of the self-balancingvehicle 100. The controller 82 drives the hub motors 4 according to thesensing signals transmitted by the acceleration sensor 85 and thegyroscope 83, thereby determining to change the direction or the speedof the self-balancing vehicle 100 or not. The detection technology ofthe acceleration sensor 85 and the gyroscope 83 is conventional and willnot be described herein for a concise purpose.

In the embodiment, the electric self-balancing vehicle 100 furtherincludes a U-shaped fixing element 9. The sensors 80 and the blockingelement 86 are fixed to the U-shaped fixing element 9, in order toachieve modularized installation of the electronic elements of theentire device to facilitate the assembly, wiring and the subsequentmaintenance.

In practice, the user drives a part or two parts of the vehicle body totwist by forces of the feet, in order to drive the sensors 80 to sendthe sensing signals to the controller 82. The controller 82 drives thehub motors 4 to operate according to an internal control program, toenable the user to turn, advance or retreat, so that “foot control” isachieved, the use is more convenient, and the control is more flexible.

How the controller 82 in the present invention controls theself-balancing vehicle to achieve a self-balancing state and controlsthe wheels 50 to advance, retreat or turn belongs to the prior art, andwill not be described herein for a concise purpose. Specific referencecan refer to currently disclosed self-balancing vehicle control methodsand control technologies adopted by self-balancing vehicle productionenterprises. For example, the Chinese patent application No.201320050547.3, entitled BALANCE CONTROL DEVICE FOR INTELLIGENTBALANCING VEHICLE AND INTELLIGENT BALANCING VEHICLE, wherein the controldevice may be the controller 82 in the embodiment. Or, for example, theChinese patent application No. 201220367045.9, entitled CIRCUIT CONTROLDEVICE FOR CONTROLLING BALANCING VEHICLE MOTOR BY USING CPLD. Certainly,in actual application, other control devices and control methods canalso be selected, for example, the control method described in theChinese patent application No. 201310516158.X, entitled CONTROL METHODFOR TWO-WHEELED SELF-BALANCING VEHICLE.

In the embodiment, the electric self-balancing vehicle 100 furtherincludes a charging interface 87, and the charging interface 87 isdisposed at the bottom cover 3. Specifically, the charging interface 87is disposed at the outer side of the bottom cover 3 for charging thepower supply 81 conveniently.

In the embodiment, the controller 82 has a storage unit 821 and acorrection unit 822, the storage unit 821 stores an initial balancestate of the electric self-balancing vehicle 100, and the correctionunit 822 corrects a current balance state of the electric self-balancingvehicle 100. Specifically, after the electric self-balancing vehicle 100is delivered out of the factory, the data when the vehicle body isplaced horizontally is recorded in the storage unit 821. After theelectric self-balancing vehicle 100 is used for a period of time, due toexternal environments, such as temperature and so on, and usingsituations such as shaking, the sensors 80 of the electricself-balancing vehicle 100 may deviate to a certain extent, so that thehorizontal reference value of the electric self-balancing vehicle 100will change correspondingly. At that time, if the horizontal dataadopted when leaving the factory is still adopted, the electricself-balancing vehicle 100 is controlled inaccurately. After long termuse, accidents may happen. A correction program is stored in thecorrection unit 822 in the embodiment. When the correction program isoperated, the electric self-balancing vehicle 100 detects the real-timeconditions of the sensors 80 and judges and compares the real-timeconditions with the initial horizontal data, so as to determine whetherto overwrite the original data for resetting. By setting the correctionprogram, the control accuracy and the service life of the electricself-balancing vehicle 100 are greatly improved, and the problem in theprior art that the flexibility and the accuracy of the self-balancingvehicle decline after the self-balancing vehicle is used for a period oftime is solved.

FIG. 6 is a schematic diagram showing an electric self-balancing vehicleaccording to a second embodiment of the invention. Please refer to FIG.6, The only difference between the electric self-balancing vehicle 200in the second embodiment and the electric self-balancing vehicle 100 inthe first embodiment lies in that the electric self-balancing vehicle200 further includes a remote controller 210, and the controllerreceives a control signal sent by the remote controller 210. Remotecontrol of the electric self-balancing vehicle 200 can be achieved bythe remote controller 210. A startup button and a correction button andthe like can be disposed on the remote controller 210. However, theinvention is not limited thereto. The electric self-balancing vehicle200 further includes an interface cover 310, and the interface cover 220covers the charging interface. The interface cover 220 can prevent muddywater splashed by operating the electric self-balancing vehicle 200 frompolluting the charging interface and even entering the vehicle body.

In summary, according to the invention, the inner cover is uniquelydisposed between the top cover and the bottom cover of the electricself-balancing vehicle, such that the entire structure of the electricself-balancing vehicle is firmer, and the electronic elements inside thevehicle body are protected at the same time. Further, the space forfixing the electronic elements is formed between the inner cover and thebottom cover, such that the electronic elements are installed morecompactly. The power supply and the controller are disposed in two partsof the vehicle body, respectively. Therefore, one power supply and onecontroller can control the two hub motors simultaneously, the assemblyis easier, the wiring is more convenient, and more space is saved.Meanwhile, the weights on both sides of the vehicle body are betterbalanced thus to improve the self-balance of the vehicle body. Accordingto the present invention, the wheels are located at the left and rightedges of the vehicle body. Thus, the wheels with larger sizes can beused. Compared with the existing self-balancing vehicle with wheelsinstalled at the bottom of the bottom cover, the electric self-balancingvehicle has considerable movement distance and speed advantages.Further, the hub motors are adopted in the present invention, and themotors are directly installed in the wheels. Accordingly, the structureof the electric self-balancing vehicle is more compact. Compared withthe self-balancing vehicle singly installed with a motor, more space issaved and the entire device is more compact.

Although the present invention has been described in considerable detailwith reference to certain preferred embodiments thereof, the disclosureis not for limiting the scope of the invention. Persons having ordinaryskill in the art may make various modifications and changes withoutdeparting from the scope and spirit of the invention. Therefore, thescope of the appended claims should not be limited to the description ofthe preferred embodiments described above.

1-30. (canceled)
 31. An electric balance vehicle, comprising: a housinghaving a first side rotatable relative to a second side; an internalframework mounted within the housing, the internal framework comprisinga plurality of structural components, at least a first one of theplurality of structural components coupled to the first side, and atleast a second one of the plurality of structural components coupled tothe second side; a rotating mechanism coupled with the internalframework allowing the first one of the plurality of structuralcomponents to rotate relative to the second one of the plurality ofstructural components; a first wheel attached to a first end of theinternal framework and a second wheel attached to a second end of theinternal framework; at least one motor mechanically coupled to at leastone wheel; a plurality of sensors; a power supply; and at least onecontroller electrically connected with the plurality of sensors, thepower supply, and the at least one motor, wherein the at least onecontroller is configured to control the at least one motor to drive thefirst wheel and the second wheel to rotate according to signals from theplurality of sensors.
 32. The electric balance vehicle of claim 31,wherein the housing further comprises a top cover and a bottom cover.33. The electric balance vehicle of claim 32, wherein the top covercomprises a first top cover and a second top cover rotatable relative tothe first top cover, and wherein the bottom cover comprises a firstbottom cover and a second bottom cover rotatable relative to the firstbottom cover.
 34. The electric balance vehicle of claim 31, furthercomprising: a limiting shaft disposed closer to the first end of theinternal framework than the second end of the internal framework. 35.The electric balance vehicle of claim 31, further comprising: a firstpedal disposed on the first side of the housing and a second pedaldisposed of on the second side of the housing.
 36. The electric balancevehicle of claim 31, wherein the at least one controller is mountedwithin one side of the housing.
 37. The electric balance vehicle ofclaim 36, wherein the at least one controller comprises a firstcontroller and a second controller, and wherein the first controller ismounted within the first side and the second controller is mountedwithin the second side.
 38. The electric balance vehicle of claim 31,wherein the power supply is mounted within one side of the housing. 39.The electric balance vehicle of claim 31, wherein the at least onecontroller and the power supply are located below the internal frameworkwhen the electric balance vehicle is in an operative state.
 40. Theelectric balance vehicle of claim 31, wherein the internal framework isformed from an aluminum alloy.
 41. The electric balance vehicle of claim31, wherein the plurality of sensors further comprises at least one of agyroscope, an accelerometer, and an inductive switch.
 42. The electricbalance vehicle of claim 41, wherein the inductive switch is an infraredphotoelectric sensor.
 43. The electric balance vehicle of claim 31,wherein the rotating mechanism comprises a cylindrical barrel and ashaft sleeve installed in the cylindrical barrel.
 44. The electricbalance vehicle of claim 43, wherein the cylindrical barrel comprises abearing installed in the cylindrical barrel, and wherein the shaftsleeve is installed in the bearing.
 45. The electric balance vehicle ofclaim 31, wherein the at least one motor is mounted within one side ofthe electric balance vehicle.
 46. The electric balance vehicle of claim31, wherein the at least one motor includes a first motor and a secondmotor, wherein the first motor is mounted within the first wheel, andwherein the second motor is mounted within the second wheel.